EP 4252970 A1 20231004 - CONTROLLING A ROBOT BASED ON AN OPTIMIZED COOPERATION WITH OTHER AGENTS
Title (en)
CONTROLLING A ROBOT BASED ON AN OPTIMIZED COOPERATION WITH OTHER AGENTS
Title (de)
STEUERUNG EINES ROBOTERS BASIEREND AUF EINER OPTIMIERTEN ZUSAMMENARBEIT MIT ANDEREN AGENTEN
Title (fr)
COMMANDE D'UN ROBOT SUR LA BASE D'UNE COOPÉRATION OPTIMISÉE AVEC D'AUTRES AGENTS
Publication
Application
Priority
EP 22165813 A 20220331
Abstract (en)
A method for controlling at least one autonomous device concerns the at least one autonomous device as at least one of at least two agents that cooperatively perform a common task in a common environment. The method comprises obtaining variables on a current state of each of the at least two agents in the common environment, and obtaining a variable on at least one current state of the common environment. The variable describes a distance of the current state of the at least two agents to a common goal state or a task success. The method determines a quantitative measure for cooperative behaviour of the at least two agents, wherein the quantitative measure quantifies an extent to which a mutual support or an adaption in joint cooperative actions towards the common goal state increases a joint action space of the at least two agents. Then the method optimizes a joint behaviour of the at least two agents using the determined quantitative measure based on the obtained variables of the current states of the at least two agents and the obtained further variable on the current state of the common environment, and determines at least one action of the autonomous device based on the optimized joint behaviour. The method outputs a control signal for controlling the determined at least one action
IPC 8 full level
B25J 9/16 (2006.01)
CPC (source: EP US)
B25J 9/1664 (2013.01 - EP); B25J 9/1669 (2013.01 - US); B25J 9/1682 (2013.01 - EP); B25J 13/08 (2013.01 - US); G05B 19/4155 (2013.01 - US); G06F 3/015 (2013.01 - US); G05B 2219/39116 (2013.01 - EP); G05B 2219/39146 (2013.01 - EP); G05B 2219/39157 (2013.01 - EP); G05B 2219/40202 (2013.01 - EP); G05B 2219/50391 (2013.01 - US)
Citation (applicant)
- GIENGER, M., RUIKEN, D., BATES, T., REGAIG, M., MEIBNER, M., KOBER, J., SEIWALD, P., HILDEBRANDT, A.-C.: "Human-Robot Cooperative Object Manipulation with Contact Changes", 2018 IEEE/RSJ INTERNATIONAL CONFERENCE ON INTELLIGENT ROBOTS AND SYSTEMS IROS, 2018, pages 1354 - 1360, XP033491430, DOI: 10.1109/IROS.2018.8594140
- MAKKEH, A.GUTKNECHT, A. J.WIBRAL, M.: "Introducing a differentiable measure of pointwise shared information", PHYSICAL REVIEW E, vol. 103, 2021, pages 032149
- HANSEN, N.: "The CMA evolution strategy: a comparing review", TOWARDS A NEW EVOLUTIONARY COMPUTATION, 2006, pages 75 - 102, XP055233670, DOI: 10.1007/3-540-32494-1_4
- ELBANHAWI, M.MEMBER, S.SIMIC, M.: "Sampling-Based Robot Motion Planning: A Review", IEEE ACCESS, vol. 2, 2014, pages 56 - 77, XP055435745, DOI: 10.1109/ACCESS.2014.2302442
- ICHTER, B.HARRISON, J.PAVONE, M.: "Learning Sampling Distributions for Robot Motion Planning", 2018 IEEE INTERNATIONAL CONFERENCE ON ROBOTICS AND AUTOMATION (ICRA2), 2018, pages 7087 - 7094, XP033403236, DOI: 10.1109/ICRA.2018.8460730
Citation (search report)
- [XI] US 2017028553 A1 20170202 - TSUDA TAKETSUGU [JP], et al
- [XI] US 10899017 B1 20210126 - DE SAPIO VINCENT [US], et al
- [A] EP 3511130 A1 20190717 - OMRON TATEISI ELECTRONICS CO [JP]
- [A] US 2010087955 A1 20100408 - TSUSAKA YUKO [JP], et al
- [A] ABDULLAH MAKKEH ET AL: "Introducing a differentiable measure of pointwise shared information", ARXIV.ORG, CORNELL UNIVERSITY LIBRARY, 201 OLIN LIBRARY CORNELL UNIVERSITY ITHACA, NY 14853, 30 March 2021 (2021-03-30), XP081899821, DOI: 10.1103/PHYSREVE.103.032149
Designated contracting state (EPC)
AL AT BE BG CH CY CZ DE DK EE ES FI FR GB GR HR HU IE IS IT LI LT LU LV MC MK MT NL NO PL PT RO RS SE SI SK SM TR
Designated extension state (EPC)
BA ME
Designated validation state (EPC)
KH MA MD TN
DOCDB simple family (publication)
DOCDB simple family (application)
EP 22165813 A 20220331; US 202318192667 A 20230330